CN115977188A - Movable multifunctional manipulator for long slope reinforcement construction and construction method - Google Patents
Movable multifunctional manipulator for long slope reinforcement construction and construction method Download PDFInfo
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- CN115977188A CN115977188A CN202211500300.7A CN202211500300A CN115977188A CN 115977188 A CN115977188 A CN 115977188A CN 202211500300 A CN202211500300 A CN 202211500300A CN 115977188 A CN115977188 A CN 115977188A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a movable multifunctional manipulator for long slope reinforcement construction, which comprises: the chassis walking mechanism comprises a chassis frame and wheel components, and the wheel components are used for driving the chassis frame to move or turn; the movable gantry comprises a gantry and a longitudinal moving mechanism, the gantry is arranged on the chassis frame, and the longitudinal moving mechanism is used for driving the gantry to move along the longitudinal axis of the chassis frame; the portal frame is provided with a transverse moving mechanism; the rotary telescopic device is connected with the transverse moving mechanism and driven by the transverse moving mechanism to move along the longitudinal axis of the gantry; and one side of the rotary telescopic device facing the side slope is provided with an operation device, and the rotary telescopic device is used for driving the operation device to rotate or move relative to the portal. According to the invention, the milling head and the gripper are integrated on the same equipment, so that grooving and precast beam assembling can be rapidly and accurately carried out, and the work efficiency and the construction quality of slope reinforcement are improved.
Description
Technical Field
The invention relates to the field of slope reinforcement devices. More particularly, the invention relates to a movable multifunctional manipulator for long-side slope reinforcement construction and a construction method.
Background
The slope reinforcement construction is generally to embed lattice beams on the slope, then backfill soil between the lattice beams and lay green plants on the surface, the design shapes of the lattice beams comprise a rectangular structure, a diamond structure, a door-shaped structure and the like, and the general process of the lattice beam construction comprises the steps of firstly slotting the slope according to the shape of the lattice beams and then installing the lattice beams in the slot; at present, the mode of side slope slotting is divided into manual slotting and mechanical slotting, the manual slotting method is that a constructor holds an air pick to mark lines on a slope surface according to the shape of a lattice beam, the mechanical slotting method is that an excavator mounted milling head marks lines and carves the grooves along the slope surface, and the lattice beam installation generally adopts the mode of erecting a template, installing reinforcing steel bars and pouring concrete cast-in-place curing and forming or adopts prefabricated lattice beam on-site mechanical assembly.
The existing side slope slotting and lattice beam construction has the following defects: 1. the efficiency of manual grooving operation is relatively slow, the pneumatic pick grooving is not suitable for a hard soil structure, the size of a manual grooving notch is irregular, the operation on a long steep slope surface is difficult, and the safety risk exists; 2. although the grooving operation efficiency is improved by adopting the grooving mode of the excavator, the grooving size is irregular, and grooving of rhombic and gate-shaped structures is difficult and low in efficiency; 3. if the lattice beam adopts a cast-in-place mode, a large amount of manpower is needed to operate on the slope surface, the steel bar installation and template disassembly transfer are time-consuming and labor-consuming, the operation efficiency is not high, and the like; 4. the prefabricated lattice beam mechanical installation is generally separated from mechanical slotting equipment, and the equipment cost investment is large.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a mobile multi-functional robot for long slope reinforcement construction, comprising:
the chassis walking mechanism comprises a chassis frame and wheel components, wherein the wheel components are arranged at the bottom of the chassis frame and used for driving the chassis frame to move or turn;
the movable gantry comprises a gantry and a longitudinal moving mechanism, the gantry is arranged on the chassis frame along the transverse axis of the chassis frame, and the longitudinal moving mechanism is arranged on the chassis frame and used for driving the gantry to move along the longitudinal axis of the chassis frame; the portal frame is provided with a transverse moving mechanism;
the rotary telescopic device is connected with the transverse moving mechanism and driven by the transverse moving mechanism to move along the longitudinal axis of the portal frame; and one side of the rotary telescopic device facing the side slope is provided with an operation device for reinforcing the side slope, and the rotary telescopic device is used for driving the operation device to rotate or move relative to the portal frame.
Preferably, the gantry comprises a beam and upright columns arranged on two sides of the beam, the beam is parallel to the chassis frame, and walking wheels are arranged at the bottoms of the upright columns; the longitudinal movement driving mechanism comprises a longitudinal movement track and a first driving mechanism, wherein the longitudinal movement track is arranged along the longitudinal axis of the chassis frame, and the first driving mechanism is arranged on the chassis frame and used for driving the traveling wheels to move along the longitudinal movement track.
Preferably, the transverse moving mechanism comprises a second driving mechanism and a transverse moving platform, the transverse beam is provided with a transverse moving rail along the longitudinal axis of the transverse beam, the transverse moving platform is connected with the transverse moving rail in a sliding manner, and the second driving mechanism is arranged on the transverse beam and used for driving the transverse moving platform to slide along the transverse moving rail.
Preferably, the rotary telescopic device comprises a rotary mechanism, a connecting arm and a telescopic mechanism which are connected in sequence; the swing mechanism is parallel to the cross beam and connected with the transverse moving platform to drive the connecting arm and the telescopic mechanism to rotate relative to the cross beam; the movable end of the telescopic mechanism faces the side slope and is connected with the operation device to drive the operation device to be close to or far away from the side slope.
Preferably, an angle adjusting mechanism is further arranged between the slewing mechanism and the connecting arm, the angle adjusting mechanism comprises a slewing arm and an adjusting oil cylinder, and the slewing arm is parallel to the cross beam and connected with the slewing mechanism so as to rotate along with the slewing structure; the rotary arm, the adjusting oil cylinder and the connecting arm are sequentially hinged end to form a triangular structure, and the length of the adjusting oil cylinder is adjusted to adjust an included angle between the connecting arm and the front part of the rotary arm.
Preferably, the operation device comprises a milling head and a hand grip, the telescopic mechanism comprises a first telescopic oil cylinder and a second telescopic oil cylinder which are respectively connected with the milling head and the hand grip, and the first telescopic oil cylinder and the second telescopic oil cylinder are respectively connected with the connecting arm.
Preferably, the stiff end of first telescopic cylinder with the linking arm is towards one side sliding connection of slope, fixedly connected with translation hydro-cylinder on the linking arm, the expansion end of translation hydro-cylinder with the stiff end of first telescopic cylinder is articulated, in order to drive first telescopic cylinder follows the longitudinal axis of linking arm removes.
Preferably, the number of the grippers and the number of the second telescopic oil cylinders are two, and the two second telescopic oil cylinders are arranged on two sides of the connecting arm respectively; the fixed end of each second telescopic oil cylinder is hinged with the connecting arm, and the movable end of each second telescopic oil cylinder faces a slope; every the second telescopic oil cylinder is correspondingly provided with a telescopic arm, the telescopic arm is parallel to the second telescopic oil cylinder, one end of the telescopic arm penetrates through the connecting arm, the other end of the telescopic arm is hinged to the movable end of the corresponding second telescopic oil cylinder, and one end, facing the side slope, of the telescopic arm is connected with the hand grip.
Preferably, one end of the chassis frame is provided with a lifting device.
Still another object of the present invention is to provide a construction method of a mobile multifunctional robot for long side slope reinforcement construction, comprising the steps of:
s1: the manipulator is driven by the chassis walking mechanism to move to a construction area along a slope surface of a side slope;
s2: moving the moving gantry to a construction station in a construction area through the longitudinal moving mechanism;
s3: retracting the hand through the second telescopic oil cylinder, starting the milling head to start grooving, and adjusting the position of the milling head through the transverse moving mechanism, the slewing mechanism, the adjusting oil cylinder, the translation oil cylinder and the first telescopic oil cylinder to complete grooving operation of one construction station;
s4: moving the movable gantry to the next construction station through the longitudinal moving mechanism, and repeating the action S3 to complete the grooving operation of the next construction station;
s5: after the milling head finishes grooving operation of all construction stations in a construction area, the milling head retracts through the first telescopic oil cylinder, the hand grab is moved to a beam taking station through the movable door frame, and meanwhile, the hoisting device transfers the precast beam conveyed by the beam transport vehicle to the beam taking station;
s6: the posture of the hand grip is adjusted through the transverse moving mechanism, the swing mechanism, the adjusting oil cylinder and the second telescopic oil cylinder, and the precast beam is gripped; then the grabbed precast beam is moved to the position above the installation position through the longitudinal moving mechanism, the transverse moving mechanism and the slewing mechanism, and then the precast beam is placed at the installation position through the second telescopic oil cylinder, so that one-time beam taking and installation operation is completed;
s7: and repeating the step S5 and the step S6 to finish the installation operation of all precast beams in one construction area, and moving the manipulator to the next construction area through the chassis moving mechanism.
The invention at least comprises the following beneficial effects:
1. the movable multifunctional manipulator for long slope reinforcement construction provided by the invention adopts full-mechanized slotting and beam mounting to replace manual operation, so that the working efficiency is improved, and the personnel safety risk is reduced; and the milling head and the gripper are integrated on the same equipment, and the two functions of slotting and precast beam assembling can be realized by using the same equipment, so that the equipment investment cost is further reduced.
2. According to the movable multifunctional manipulator for long slope reinforcement construction, the postures of the milling head and the hand grip are adjusted through the chassis travelling mechanism, the rotary telescopic device and the angle adjusting device, the milling head and the hand grip can be adjusted to any working positions, grooving operations in various shapes can be adapted, grooving and precast beam assembling can be performed rapidly and accurately, and the work efficiency and the construction quality of slope reinforcement are improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic side view of a robot according to the present invention;
fig. 2 is a schematic structural view of the moving gantry according to the present invention;
FIG. 3 is a schematic side view of the rotary telescopic device of the present invention;
FIG. 4 is a left side view of the swing telescope of FIG. 3;
FIG. 5 is a schematic view of a grip according to the present invention;
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, the present invention provides a mobile multifunctional manipulator for long slope reinforcement construction, comprising:
the chassis walking mechanism 100 comprises a chassis frame 110 and wheel assemblies 120, wherein the wheel assemblies 120 are arranged at the bottom of the chassis frame and are used for driving the chassis frame 110 to move or turn;
a movable gantry 300, which comprises a gantry 310 and a longitudinal moving mechanism 340, wherein the gantry 310 is arranged on the chassis frame 110 along the transverse axis of the chassis frame 110, and the longitudinal moving mechanism 340 is arranged on the chassis frame 110 to drive the gantry 310 to move along the longitudinal axis of the chassis frame 340; the gantry 310 is provided with a traversing mechanism 330;
a rotary telescopic device 400 which is connected with the traversing mechanism 330 and moves along the longitudinal axis of the gantry 310 under the driving of the traversing mechanism 330; the side of the rotary telescopic device 400 facing the slope 600 is provided with the working device 200 for reinforcing the slope, and the rotary telescopic device 400 is used for driving the working device 200 to rotate or move relative to the door frame 310.
In this solution, the wheel assembly 120 drives the chassis frame 110 to move on the slope 600 to the construction area to be reinforced. The chassis running mechanism can adopt a vehicle chassis running mechanism conventionally used in the prior art, specifically, the wheel assembly comprises a pair of front wheels, a pair of rear wheels, a driving device and a steering device, the driving device drives the pair of front wheels or the pair of rear wheels to rotate for advancing or retreating, the steering device drives the pair of front wheels or the pair of rear wheels to rotate for realizing steering, the driving device can select a conventionally used driving motor, and the steering device can select a mechanical steering structure or a hydraulic steering structure, without limitation. The gantry 310 is arranged on the chassis frame 110 along the transverse axis of the chassis frame 110, the transverse axis direction of the chassis frame 110 is the X-axis direction, the longitudinal axis of the chassis frame 110 is the Y-axis line, the traversing mechanism 330 drives the working device 200 to move along the X-axis direction, the longitudinal moving device 340 drives the working device 200 to move along the Y-axis direction, and then the planar position of the working device 200 on a slope is adjusted, and the rotary telescopic device 400 can also drive the working device 200 to rotate, so that the manipulator can perform reinforcement construction operation at any position on the slope.
In another embodiment, referring to fig. 1 and 2, the gantry 310 includes a beam 311 and columns 312 disposed at two sides of the beam 311, the beam 311 is parallel to the chassis frame 110, and the bottom of the columns 312 is provided with road wheels 313; the longitudinal movement driving mechanism 340 includes a longitudinal movement track 341 arranged along the longitudinal axis of the chassis frame 110 and a first driving mechanism 342, and the first driving mechanism 342 is arranged on the chassis frame 110 to drive the travelling wheels 313 to move along the longitudinal movement track 341.
In order to ensure the stability of the movement of the gantry 310 along the longitudinal movement track 341, the longitudinal movement track 341 is disposed on the upright posts 312 on the chassis frame 110 corresponding to the two sides of the cross beam 311. The first driving mechanism 342 may be a conventionally used driving motor for driving the traveling wheels 313 to move, and may adopt a chain driving mechanism as shown in fig. 1, including a driving motor, transmission sprockets disposed at two ends of the chassis frame 110, and roller chains sleeved on the two transmission sprockets, wherein the roller chains are fixedly connected with a connecting plate, and by fixedly connecting the upright posts 312 with the connecting plate, when the driving motor drives the transmission sprockets to rotate, the connecting plate moves along the longitudinal axis direction of the chassis frame 110 along with the roller chains, so as to drive the upright posts 312 to move synchronously, thereby driving the gantry 310 to move along the longitudinal movement track 341.
In another embodiment, as shown in fig. 2, the traverse mechanism 330 includes a second driving mechanism 332 and a traverse platform 331, the cross beam 311 is provided with a traverse rail 320 along the longitudinal axis thereof, the traverse platform 331 is slidably connected to the traverse rail 320, and the second driving mechanism 332 is provided on the cross beam 311 to drive the traverse platform 331 to slide along the traverse rail 320. The second driving mechanism 332 may adopt a conventional driving motor to drive the traverse platform 331 to slide along the traverse rail 320, such as a linear slide rail and slider structure; the second driving mechanism 332 may be a chain driving mechanism similar to the first driving mechanism 342.
In another embodiment, referring to fig. 3, the swing telescopic device 400 includes a swing mechanism 410, a connecting arm 420 and a telescopic mechanism 430 connected in sequence; the swing mechanism 410 is parallel to the cross beam 311, and is connected to the traverse platform 331, so as to drive the connecting arm 420 and the telescopic mechanism 430 to rotate relative to the cross beam 311; the movable end of the telescopic mechanism 430 faces the slope 600, and is connected to the working device 200 to drive the working device 200 to approach or leave the slope.
In this embodiment, the turning mechanism 410 is a turning device conventionally used in the prior art, such as a turning motor, a turning hydraulic cylinder, etc., and is not limited herein. The fixed end of the swing mechanism 410 is connected to the traverse platform 331 to drive the connecting arm 420, the telescopic mechanism 430 and the working device 200 to move along the X-axis direction with the traverse platform 331. The movable end of the revolving mechanism 410 is connected to the connecting arm 420 to drive the telescopic mechanism 430 and the working device 200 to rotate together, so that the working device 200 can perform reinforcement construction work by using the revolving center of the revolving mechanism 410 as a circle center.
In another embodiment, referring to fig. 4, an angle adjusting mechanism 440 is further disposed between the swing mechanism 410 and the connecting arm 420, the angle adjusting mechanism 440 includes a swing arm 441 and an adjusting cylinder 442, the swing arm 441 is parallel to the cross beam 331 and is connected to the swing mechanism 410 to rotate with the swing mechanism 410; the rotating arm 441, the adjusting cylinder 442 and the connecting arm 420 are sequentially hinged end to form a triangular structure, and the length of the adjusting cylinder 442 is adjusted to adjust the included angle between the connecting arm 420 and the rotating arm 441.
In this embodiment, as the length of the adjusting cylinder 442 is adjusted, the connecting arm 420 rotates around the hinge point between the connecting arm 420 and the rotating arm 441, so as to adjust the included angle between the connecting arm 420 and the front of the rotating arm 441. The working device 200 is connected to the connecting arm 420 through the telescopic mechanism 430, so that the angle of the working device 200 relative to the slope of the side slope can be adjusted through the angle adjusting mechanism 440, and particularly, the efficiency of grooving and installing the precast beam 700 can be improved when the slope is high and low.
In another embodiment, referring to fig. 1, 3 and 4, the working device 200 includes a milling head 210 and a hand grip 220, the telescopic mechanism 430 includes a first telescopic cylinder 431 and a second telescopic cylinder 432 respectively connected to the milling head 210 and the hand grip 220, and the first telescopic cylinder 431 and the second telescopic cylinder 432 are respectively connected to the connecting arm 420. The milling head 210 is used for grooving operation, the gripper 220 is used for grabbing the precast beam 700 for installation, and the milling head 210 and the gripper 220 are simultaneously installed on the manipulator, so that grooving and installation operations can be performed through the same equipment, and the equipment investment cost is reduced. The first telescopic cylinder 431 and the second telescopic cylinder 432 can adjust the distance between the milling head 210 and the hand grip 220 relative to the slope surface of the side slope.
In another embodiment, referring to fig. 4, a fixed end of the first telescopic cylinder 431 is slidably connected to one side of the connecting arm 420 facing the edge 600, a translation cylinder 434 is fixedly connected to the connecting arm 420, and a movable end of the translation cylinder 434 is hinged to the fixed end of the first telescopic cylinder 431 to drive the first telescopic cylinder 431 to move along the longitudinal axis of the connecting arm 420. The translation cylinder 434 can drive the milling head 210 to move along the connecting arm 420 relative to the slope, and the rotation mechanism 410, the traverse mechanism 330, and the longitudinal movement mechanism 340 can drive the milling head 210 to move to any position on the slope.
In another embodiment, referring to fig. 3, two second telescopic cylinders 432 are respectively provided for the gripper 220 and the second telescopic cylinder 432, and the two second telescopic cylinders 432 are respectively provided at two sides of the connecting arm 420; the fixed end of each second telescopic oil cylinder 432 is hinged with the connecting arm 420, and the movable end of each second telescopic oil cylinder faces the slope 600; every second telescopic cylinder 432 corresponds and is provided with a flexible arm 433, flexible arm 433 with second telescopic cylinder 432 is parallel, and one end passes linking arm 420, and the other end is articulated with the expansion end of the second telescopic cylinder 432 that corresponds, flexible arm 433 towards side slope 600 the one end with tongs 220 are connected.
The two grippers 220 are used to simultaneously grip the precast girders 700 in consideration of the size and shape of the precast girders 700 to ensure stability in gripping. Through holes for the telescopic arms 433 to pass through are formed in the two sides of the connecting arm 420 corresponding to the telescopic arms 433, and when the second telescopic cylinder 432 contracts, the corresponding telescopic arms 433 are driven to ascend along the through holes, so that the hand grip 220 is driven to ascend; otherwise, when the second telescopic oil cylinder 432 extends, the corresponding telescopic arm 433 is driven to descend along the through hole, so that the hand grip 220 descends; the distance of the opposite slope of the hand grip 220 can be adjusted. Specifically, referring to fig. 5, the hand grip 220 includes a clamping support arm 222, a clamping cylinder 223, a fixed arm 225, and a movable arm 221; the fixed arm 225 is fixedly arranged at one end of the clamping support arm 222, the movable arm 221 is hinged with the other end of the clamping support arm 222, two ends of the clamping oil cylinder 223 are respectively hinged with the fixed arm 225 and the movable arm 221, and a clamping block 224 is arranged on one side of the fixed arm 225 opposite to one side of the movable arm 221. The movable arm 221 is moved closer to the fixed arm 225 by the contraction of the clamp cylinder 223 to clamp the precast beam 700, and conversely, is moved away from the fixed arm 225 by the extension of the clamp cylinder 223 to release the precast beam 700.
In another embodiment, a lifting device 500 is provided at one end of the chassis frame 110. And hoisting the precast beam 700 from the beam transporting vehicle through the hoisting device 500, and allowing the hand grip 220 to grip.
The invention also provides a construction method of the movable multifunctional manipulator for long slope reinforcement construction, which comprises the following steps:
s1: the manipulator is driven by the chassis walking mechanism 100 to move to a construction area along the slope surface of the side slope;
s2: moving the moving gantry 300 to a construction station in a construction area by the traversing mechanism 340;
s3: retracting the hand grip 220 through the second telescopic oil cylinder 432, starting the milling and planing head 210 to start grooving, and adjusting the position of the milling and planing head 210 through the traversing mechanism 330, the slewing mechanism 410, the adjusting oil cylinder 442, the translating oil cylinder 434 and the first telescopic oil cylinder 431 to complete grooving operation of one construction station;
s4: moving the movable portal 300 to the next construction station through the longitudinal moving mechanism 340, and repeating the action S3 to complete the grooving operation of the next construction station;
s5: after the milling head 210 finishes grooving operations of all construction stations in a construction area, the milling head 210 is retracted through the first telescopic oil cylinder 431, the hand grab 220 is moved to a beam taking station through the movable door frame 300, and meanwhile, the hoisting device 500 transports the precast beam 700 transported by the beam transporting vehicle to the beam taking station;
s6: the transverse moving mechanism 330, the swing mechanism 410, the adjusting oil cylinder 441 and the second telescopic oil cylinder 432 are used for adjusting the posture of the hand grip 220 and gripping the precast beam 700; then, the grabbed precast beam 700 is moved to the position above the installation position through the longitudinal moving mechanism 340, the transverse moving mechanism 330 and the swing mechanism 410, and the precast beam 700 is placed at the installation position through the second telescopic oil cylinder 432, so that one-time beam taking and installation operation is completed;
s7: and repeating S5 and S6 to finish the installation operation of all precast beams 700 in one construction area, and moving the manipulator to the next construction area through the chassis moving mechanism 100.
When the milling and planing head is used, when any one of the milling and planing head 210 and the hand grip 220 works, the other one of the milling and planing head and the hand grip is retracted upwards, and interference is avoided. The chassis moving mechanism 100, the longitudinal moving mechanism 340, the transverse moving mechanism 330, the rotating mechanism 410, the adjusting cylinder 441, the first telescopic cylinder 431, the second telescopic cylinder adjustment 432 and the translation cylinder 434 are mutually matched to realize the accurate adjustment of the milling head 210 and the hand grip 220 relative to the slope surface, and each executing mechanism is correspondingly connected with a hydraulic pump, a hydraulic control mechanism, a power supply and a control element.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a portable multi-functional manipulator for long limit slope reinforcement construction which characterized in that includes:
the chassis walking mechanism comprises a chassis frame and wheel components, wherein the wheel components are arranged at the bottom of the chassis frame and used for driving the chassis frame to move or turn;
the movable gantry comprises a gantry and a longitudinal moving mechanism, the gantry is arranged on the chassis frame along the transverse axis of the chassis frame, and the longitudinal moving mechanism is arranged on the chassis frame and used for driving the gantry to move along the longitudinal axis of the chassis frame; the portal frame is provided with a transverse moving mechanism;
the rotary telescopic device is connected with the transverse moving mechanism and driven by the transverse moving mechanism to move along the longitudinal axis of the gantry; the side, towards the side slope, of the rotary telescopic device is provided with an operation device for reinforcing the side slope, and the rotary telescopic device is used for driving the operation device to rotate or move relative to the portal.
2. The mobile multifunctional manipulator for long slope reinforcement construction according to claim 1, wherein the gantry comprises a beam and upright columns arranged on two sides of the beam, the beam is parallel to the chassis frame, and the bottoms of the upright columns are provided with road wheels; the longitudinal movement driving mechanism comprises a longitudinal movement track and a first driving mechanism, wherein the longitudinal movement track is arranged along the longitudinal axis of the chassis frame, and the first driving mechanism is arranged on the chassis frame and used for driving the traveling wheels to move along the longitudinal movement track.
3. The mobile multi-function robot for long slope reinforcement construction as recited in claim 3, wherein said traverse mechanism comprises a second driving mechanism and a traverse platform, said traverse beam is provided with a traverse rail along a longitudinal axis thereof, said traverse platform is slidably connected to said traverse rail, said second driving mechanism is provided on said traverse beam for driving said traverse platform to slide along said traverse rail.
4. The mobile multi-functional manipulator for long slope reinforcement construction according to claim 2, wherein the swing telescope comprises a swing mechanism, a connecting arm, and a telescoping mechanism, which are connected in sequence; the swing mechanism is parallel to the cross beam and connected with the transverse moving platform to drive the connecting arm and the telescopic mechanism to rotate relative to the cross beam; the movable end of the telescopic mechanism faces the side slope and is connected with the operation device to drive the operation device to be close to or far away from the side slope.
5. The mobile multifunctional manipulator for long slope reinforcement construction as recited in claim 4, further comprising an angle adjusting mechanism disposed between the swing mechanism and the connecting arm, wherein the angle adjusting mechanism comprises a swing arm and an adjusting cylinder, the swing arm is parallel to the cross beam and connected to the swing mechanism to rotate with the swing mechanism; the rotary arm, the adjusting oil cylinder and the connecting arm are sequentially hinged end to form a triangular structure, and the length of the adjusting oil cylinder is adjusted to adjust an included angle between the connecting arm and the front part of the rotary arm.
6. The mobile multi-function manipulator for long slope reinforcement construction according to claim 4, wherein the working device comprises a milling head and a hand grip, the telescopic mechanism comprises a first telescopic cylinder and a second telescopic cylinder respectively connected with the milling head and the hand grip, and the first telescopic cylinder and the second telescopic cylinder are respectively connected with the connecting arm.
7. The mobile multifunctional manipulator for long slope reinforcement construction as recited in claim 6, wherein a fixed end of said first telescopic cylinder is slidably connected to a side of said connecting arm facing the slope, a translation cylinder is fixedly connected to said connecting arm, and a movable end of said translation cylinder is hinged to the fixed end of said first telescopic cylinder to move said first telescopic cylinder along a longitudinal axis of said connecting arm.
8. The mobile multifunctional manipulator for long slope reinforcement construction according to claim 6, wherein there are two said grippers and two said second telescopic cylinders, respectively, which are respectively disposed on both sides of said connecting arm; the fixed end of each second telescopic oil cylinder is hinged with the connecting arm, and the movable end of each second telescopic oil cylinder faces a slope; every the second telescopic oil cylinder is correspondingly provided with a telescopic arm, the telescopic arm is parallel to the second telescopic oil cylinder, one end of the telescopic arm penetrates through the connecting arm, the other end of the telescopic arm is hinged to the movable end of the corresponding second telescopic oil cylinder, and one end, facing the side slope, of the telescopic arm is connected with the hand grip.
9. The mobile multi-functional manipulator for long slope reinforcement construction according to claim 1, wherein a lifting device is provided at one end of the chassis frame.
10. The construction method of a mobile multi-function manipulator for long slope reinforcement construction as claimed in any one of claims 1 to 9, comprising the steps of:
s1: the manipulator is driven by the chassis walking mechanism to move to a construction area along a slope surface;
s2: moving the movable gantry to a construction station in a construction area through the longitudinal moving mechanism;
s3: retracting the hand through the second telescopic oil cylinder, starting the milling head to start grooving, and adjusting the position of the milling head through the transverse moving mechanism, the slewing mechanism, the adjusting oil cylinder, the translation oil cylinder and the first telescopic oil cylinder to complete grooving operation of one construction station;
s4: moving the movable gantry to the next construction station through the longitudinal moving mechanism, and repeating the action S3 to complete the grooving operation of the next construction station;
s5: after the milling head finishes grooving operation of all construction stations in a construction area, the milling head retracts through the first telescopic oil cylinder, the hand grab is moved to a beam taking station through the movable door frame, and meanwhile, the hoisting device transfers the precast beam conveyed by the beam transport vehicle to the beam taking station;
s6: the transverse moving mechanism, the swing mechanism, the adjusting oil cylinder and the second telescopic oil cylinder are used for adjusting the posture of the hand grip and gripping the precast beam; then the grabbed precast beam is moved to the position above the installation position through the longitudinal moving mechanism, the transverse moving mechanism and the swing mechanism, and the precast beam is placed at the installation position through the second telescopic oil cylinder, so that one-time beam taking and installation operation is completed;
s7: and repeating the step S5 and the step S6 to complete the installation operation of all the precast beams in one construction area, and moving the manipulator to the next construction area through the chassis moving mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211500300.7A CN115977188A (en) | 2022-11-28 | 2022-11-28 | Movable multifunctional manipulator for long slope reinforcement construction and construction method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211500300.7A CN115977188A (en) | 2022-11-28 | 2022-11-28 | Movable multifunctional manipulator for long slope reinforcement construction and construction method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117385959A (en) * | 2023-12-08 | 2024-01-12 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Double grooving device and slope grooving and paving equipment |
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2022
- 2022-11-28 CN CN202211500300.7A patent/CN115977188A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117385959A (en) * | 2023-12-08 | 2024-01-12 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Double grooving device and slope grooving and paving equipment |
| CN117385959B (en) * | 2023-12-08 | 2024-03-26 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Double grooving device and slope grooving and paving equipment |
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